The importance of fast vision in winning the first micro-Robot world cup soccer Tournament

摘要

This paper describes the Newton labs entry in the 1996 MIROSOT Micro-Robot World Cup Soccer Tournament (http:// www.mirosot.org), which won first place. Control of the three robot players is centralized; this requires relatively high bandwidth connections to the robots, as well as fat spatial information at the central controller. Spatial sensing is ac- complished by use of the Cognachrome Vision Tracking System, which is capable of tracking the positions and orientations of several objects at the full NTSC frame rate of 60 Hz.